FRC 2025 Recap
- Zach Fisher
- May 28
- 6 min read
The 2025 FIRST Robotics Competition season has come and gone! With this, we have created our challenger for this season: Sir Douglas IV.
About our Design Process:
Early on after kickoff, we created a priority list for goals that our robot should meet. These goals were created by doing a score-cost analysis for the approximate value of each scoring element. The cost for each score was determined in terms of cycle time and development time. We decided that our major priorities lie in this order: L3 Coral scoring, Algae manipulation and scoring, L4 Coral scoring, and Deep Climb. To achieve these goals, we broke into smaller groups: intake, elevator, climber, algae, and chassis. Each group investigated previous seasons, referenced our stock of reused robot appendages, and drew out potential ideas on whiteboards to brainstorm. Every team member was open to contribute, including those from non-build teams. We had end-of-day meetings every build day to confer our ideas, and compile them into potential robot designs. After narrowing down potential options day after day, we finalized our design and began to CAD it out. (Thanks, Dylan)
Build Season:
After designing the robot, we, again, broke into several teams to begin prototyping the robot. With each design being mostly nailed down, teams were able to create conceptual models using wood and 3D printed parts. The chassis was completed first--adhering to our build schedule calendar--and was built to the same specification as Doug³, the only change being REV MAXSwerve modules in place of SDS MK4i modules. After the chassis was completed, the elevator superstructure was mounted in place. We utilized 3D printed bearing blocks to fill the gap left by parts availability issues. During this time, the first intake prototypes were finished and we began testing them using drills to spin the wheels. Mounting brackets for the intake were (painstakingly) created, and our first-generation intake was completed. Working in parallel to the intake group, the algae group began creating and testing their first design; a large drop-down design with powered wheels to capture the game piece. During build season, we struggled to balance part production/rapid prototyping with time management, and began to fall behind on our build schedule calendar. Coupled with packaging conflicts, we were not able to incorporate a climber for this season. Finishing incidentals, such as CAN issues with electrical, the hopper for human player intake, and finalizing the strings and chain for the elevator, took up a large amount of build time. In the end, the robot was "hands-off" finished with only three days to test before Kettering University #2, our first event.
Week Two, Kettering University #2:
Arriving early at Kettering University, we rushed to test, finalize, and tune coding before the first day of competition. During our third practice match, we set the wrong autonomous code, and the robot crashed through the Barge at full speed. This caused every single 3D printed bearing block on the first and second stage to shatter, and the elevator fell off of the robot in spectacular fashion. We stayed at Kettering repairing the elevator until end of day, and picked up in the morning.
Day 1: We finished the repairs needed, and replaced our bearing blocks with all-metal designs before opening ceremonies. During Match 35, the robot experienced an issue with RoboRIO communication, which caused issues with driving and controlling the robot. Through our frantic diagnosis, where we replaced the RoboRIO, we determined the issue to be caused by a metal flake inside of our NavX2 sensor. Another issue we noticed with the robot was missed coral could fall directly onto our RoboRIO and battery. We solved this issue with a sheet of Lexan that we melted and formed around our toolbox. This "shield" allowed dropped coral to deflect and avoid damaging our components. This shield garnered the signatures from all our members, mentors, and our alliance's drive team. All in all, Day 1 finished well, with our competition record standing at 5-3.
Day 2: We started the day strong, with zero mechanical issues on the robot, excluding routine maintenance items. Despite our Day 2 Quals record of 0-5, our robot was incredibly strong and was the lead scoring robot for most matches. We were thrilled to receive a "shiniest shell" Imagery Award from Team 6861 - The Tyros Team--more proof that googly eyes are the key to victory! Before playoffs, our Dean's List nominees, Justin V. and Zach F., and our Woodie Flowers nominee, Sarah Y. were recognized for their accomplishments. During the alliance selection process, we were delighted to be selected as the second pick of Alliance 3 with Team 7211 - Hollywood and Team 1684 - The Chimeras. Together, we fired through the playoffs to finish in the finals!
Inter-competition Improvements
Between our two competitions, we worked mightily to improve our robot for increased reliability, scoring ability, and weight. Taking inspiration from the lessons learned from Team 7211 - Hollywood, we redesigned our coral intake to utilize vertical rollers as opposed to horizontal rollers on the old design. This helped our repeatability tremendously, as L4 scoring became almost perfectly reliable. Turning to the Algae intake on the rear of the robot, we modified our design by changing the number, spacing, and durometer (firmness) of the Compliant wheels that grip the ball. As well as switching from a NEO 550 to a 775pro for the main drive, these improvements helped us grip the ball better while it was moving. A major issue for us was clearing Algae from the Reef. To remedy this, we added a "Ye Ol' Stick" to the front of the robot. The stick would deploy when needed, then could clear Algae by using a motor-driven wheel on the end of it. This improved our scoring ability, as we were able to score in places Algae had previously blocked, and allowed us to work better with our partners who were only able to score on L2 and L3. Upon weighing our robot, we realized it was between 6-7 pounds overweight. We used a number of techniques to lower this, but the main weight savings came from: cutting a cubic foot of Lexan off the robot, utilizing different electrical components, using thinner-walled square tubing, and modifying mounting brackets to use less material. These dieting techniques allowed us to weigh in at exactly 113.8 pounds at Macomb. Utilizing 3D printing, we were able to make two more improvements. We designed and printed a new cover for our NavX2 sensor, solving our metal shaving issue that caused instability at Kettering. Also. we printed a new mounting bracket for our front camera to fit our new intake, allowing our drivers to have perfect vision of the Reef. With all of these improvements, we were incredibly excited and confident heading into Macomb.
Week Five, Macomb Community College:
To begin, we made catching up on test/tune time a priority. We competed in multiple practice matches on Day 0, allowing time for the coding team to make changes to autonomous, drive speed, controller mappings, and field calibration. Coding was a major development item during all of Macomb, as improvements were made numerous times on each day. After running practice matches, we went to the test field and locked in our L4 scoring with nearly perfect reliability. Overall, Day 0 went well, as we had lots of time to practice, develop, and tune.
Day 1: Upon our initial fastener and systems check, we discovered that the rivet nuts holding our chain to the elevator had begun pulling out of the metal, and could cause issues with the elevator going up and down. We noted this issue, however, time constraints did not allow us to repair it until the end of Day 1 and morning of Day 2. Powering through the rest of the matches, we only had one major mechanical issue, as the powered motor at the end of the Algae stick overheated and wasn't functioning. We solved this problem by getting rid of it! In its place, we zip tied a compliant wheel, and the stick functioned the same. Through the rest of the day, we played very well and finished the day 6-3.
Day 2: Once our robot repairs and modifications were completed, we fought through our last three remaining qualification matches and finished with an overall 8-4 record. This showing was strong enough to place us 11th at the event. After the first 7 teams finished picking, we found ourselves captains of the 8th alliance! We chose Team 5926 - Da Moose, and Team 3302 - TurboTrojans. Sadly, playoffs did not go as well as Kettering, as we were the first alliance eliminated and went 0-2. On a good note, the judges awarded us the Team Spirit award for our outstanding spirit, great team cohesion, and assisting teams that required help. All in all, Macomb was great, and I couldn't wish for a better way to end the season.
Written by Zach Fisher - 5/8/25
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